3D视线头部姿态转换2D

坐标系

３Ｄ视线转２Ｄ视线转换

gaze_theta = np.arcsin((-1) * gaze_norm[1])  ##pitch
gaze_phi = np.arctan2((-1) * gaze_norm[0], (-1) * gaze_norm[2])  ##yaw
gaze_norm_2d = np.asarray([gaze_theta, gaze_phi])

Headpose Vector转２Ｄ角度

image.png

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当 可由下式进行简便计算

M = cv2.Rodrigues(head)[0]
Zv = M[:, 2]
head_2d = np.array([math.asin(Zv[1]), math.atan2(Zv[0], Zv[2])])